摘要
为了提高四驱车辆的整车操纵稳定性,文章以某一现有车型为原型,通过理论建模法,在适当精简的基础上建立了包括横向运动、纵向运动、横摆运动和四个车轮的转动等在内的整车七自由度动力学模型。基于车辆转矩最优控制原理,通过PID控制算法对整车横摆角速度进行控制,使其能够较好的跟随理想横摆角速度变化,优化分配车轮所需转矩,并通过Matlab/Simulink仿真软件验证所优化分配的转矩的合理性、有效性,结果表明所设计的控制器及方法可以有效地改善四驱车辆的操纵稳定性。
In order to improve the handling stability of four-wheel drive vehicles,the article took a certain existing vehicle as prototype,and the 7 DOF dynamic model of the vehicle,including the transverse motion,the longitudinal motion,the yawing motion and the rotation of the 4 wheels,was established based on some appropriate simplifications.Then through the theoretical modeling method,the yaw rate of the vehicle was controlled by PID control algorithm to better followed the ideal yaw rate change and distributed the torque needed to each wheel,finally using Matlab/Simulink simulation software to verify the distribution of the torque was reasonable and effective,and the results showed that the designed controller and method can effectively improve the steering stability of the 4WD vehicle.
作者
李军
刘恒硕
隗寒冰
LI Jun;LIU Heng-shuo;WEI Han-bing(School of Mechantronics and Automotive Engineering,Chongqing Jiaotong University,Chongqing 400074,China;Chongqing Rail Transit Vehicle System Integration and Control Key Laboratory,Chongqing 400074,China)
出处
《机械设计与制造》
北大核心
2018年第11期21-24,共4页
Machinery Design & Manufacture
基金
国家自然科学基金资助项目(51305472)
重庆市自然科学基金重点项目(CSTC2013yykfB0184)
重庆市工程技术中心项目(cstc2015yfpt_gcjsyjzx0110)
关键词
操纵稳定性
最优控制
PID控制算法
横摆角速度
转矩控制
Vehicle Handling and Stability
LQR Control
PID Control Algorithm
Yaw Velocity
Torque Control
